Comprehensive guarantee method and system for land inertial navigation equipment

Abstract

The invention provides a comprehensive guarantee method and system for land inertial navigation equipment. The method comprises the following steps: carrying out system-level calibration on the inertial navigation equipment; acquiring internal data of the inertial navigation equipment, wherein the internal data comprises inertial element calibration parameter data in the inertial navigation equipment calibrated by the system; performing fault diagnosis on the acquired internal data of the inertial navigation equipment to obtain a fault diagnosis result; according to the obtained fault diagnosis result, a corresponding guarantee strategy is adopted for inertial navigation. According to the method, the inertial navigation equipment is subjected to system-level calibration, the inertial navigation equipment subjected to system-level calibration is taken as a fault acquisition equipment basis of inertial navigation output data, rapid and accurate fault detection is performed on the inertial navigation equipment, and the operation stability and reliability of the inertial navigation equipment are effectively guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of operation and maintenance management of inertial navigation and positioning systems, and specifically to a comprehensive support method and system for land-based inertial navigation equipment. Background Art

[0002] Land-based inertial navigation and positioning systems (referred to as "INS") are divided into high-precision, medium-precision, and low-precision systems, providing coordinate azimuth benchmarks for various weapon systems, and playing a vital role in improving the combat effectiveness of weapon systems. With the large number of INS distributed and applied, INS support tasks will be extremely frequent. In addition, INS is an important reference unit of the weapon system, which requires not only stable operation but also guaranteed accuracy. Therefore, higher requirements are placed on its support tasks. Moreover, this type of equipment is a precision measuring device, and its accuracy and other related performance will change after long-term use. At the same time, the system has a high degree of technical complexity, and its fault detection and rapid repair lack effective methods and technical means, and cannot form an effective support capability. Summary of the invention

[0003] The present application provides a comprehensive support method and system for land-based inertial navigation equipment, which can solve the technical problem that the prior art lacks technical means for effective fault detection and rapid fault repair of land-based inertial navigation and positioning systems.

[0004] In a first aspect, the present application provides a comprehensive support method for land-based inertial navigation equipment, comprising the following steps:

[0005] Conduct system-level calibration of inertial navigation equipment;

[0006] Collecting and acquiring internal data of the inertial navigation device, wherein the internal data includes calibration parameter data of inertial elements inside the inertial navigation device after system calibration;

[0007] Perform fault diagnosis on the collected internal data of the inertial navigation equipment and obtain the fault diagnosis results;

[0008] According to the obtained fault diagnosis results, corresponding protection strategies are adopted for the inertial navigation.

[0009] In combination with the first aspect, in one implementation, the system-level calibration of the inertial navigation device specifically includes the following steps:

[0010] Calibrate the temperature coefficient error of inertial components inside the inertial navigation equipment;

[0011] The device error of the inertial element after calibration of the temperature coefficient error.

[0012] In combination with the first aspect, in one implementation, the calibrating the device error of the inertial element after the temperature coefficient error is calibrated specifically includes the following steps:

[0013] Establish the error model of inertial navigation device;

[0014] Based on the established inertial navigation device error model, the device error of the inertial element after the temperature coefficient error is calibrated is calibrated.

[0015] In combination with the first aspect, in one implementation, establishing the inertial navigation device error model specifically includes the following steps:

[0016] The navigation parameter errors and various device errors of the inertial navigation are used as the state vectors of the multi-dimensional filter;

[0017] Derivation of the state vector matrix of the filter based on the state vector and according to the error equation;

[0018] The filtering state equation for inertial navigation device error calculation is established based on the state vector matrix.

[0019] In combination with the first aspect, in one implementation, the state vector matrix of the filter derived based on the state vector and according to the error equation is shown as follows:

[0020]

[0021] Where X(t) represents the state vector matrix at time t, φ E、N、U Respectively represent the attitude angles of the inertial navigation device in the east, north and celestial directions, δV E、N、U They represent the velocity errors of the inertial navigation device in the east, north and celestial directions respectively, δλ, δL and δH represent the position errors of the inertial navigation device in longitude, latitude and altitude respectively, and A ij(i＝x,y,z；j＝x,y,z) Represents the installation error between the three accelerometers in the inertial navigation device, G ij(i＝x,y,z；j＝x,y,z) Represents the installation error between the three gyroscopes in the inertial navigation device, ε x、y、z Respectively represent the constant zero deviation of the x, y, and z axis gyroscopes, Represent the constant zero deviation of the x-, y-, and z-axis accelerometers respectively.

[0022] In combination with the first aspect, in one implementation, calibrating the device error of the inertial element after the temperature coefficient error is calibrated based on the established inertial navigation device error model specifically includes the following steps:

[0023] Using the preset selected parameter value as the observation quantity, under the preset observation conditions, the navigation parameters of the inertial navigation are collected and obtained;

[0024] The acquired inertial navigation parameters are input into the established filtering state equation, and the device error of the inertial element inside the current inertial navigation device is obtained by reverse calculation using a multi-dimensional filtering method.

[0025] In combination with the first aspect, in one implementation, the method of collecting and acquiring the navigation parameters of the inertial navigation system under preset observation conditions using the preset selected parameter value as the observation quantity specifically includes the following steps:

[0026] Taking the three-dimensional velocity as zero as the observation quantity, the navigation parameters of the inertial navigation are collected when the inertial navigation is on a static base or the vehicle is stationary.

[0027] In combination with the first aspect, in one implementation, in the step of establishing a filtering state equation for calculating an inertial navigation device error based on a state vector matrix, the filtering state equation is as follows:

[0028]

[0029] Where A is the coefficient matrix of Kalman filtering, W is the system noise, V is the measurement noise, X(t) represents the state vector matrix at time t, X(t-1) represents the state vector matrix at the previous moment, W(t-1) represents the system noise at the previous moment, Z(t) represents the measurement vector, H(t) represents the measurement matrix, and V(t) represents the measurement noise.

[0030] In the second aspect, the present application provides a comprehensive support system for land-based inertial navigation equipment, including:

[0031] Calibration module, used to perform system-level calibration on inertial navigation equipment;

[0032] A fault information acquisition module is connected to the calibration module for acquiring internal data of the inertial navigation device, wherein the internal data includes calibration parameter data of inertial elements inside the inertial navigation device after system calibration;

[0033] A fault diagnosis module is connected to the fault information acquisition module for performing fault diagnosis on the acquired internal data of the inertial navigation device to obtain a fault diagnosis result;

[0034] The performance guarantee module is connected to the fault diagnosis module for adopting a corresponding guarantee strategy for the inertial navigation system according to the acquired fault diagnosis result.

[0035] In conjunction with the second aspect, in one implementation, the calibration module includes:

[0036] Temperature calibration unit, used to calibrate the temperature coefficient error of inertial components inside the inertial navigation equipment;

[0037] The parameter error calibration unit is in communication connection with the temperature calibration unit and is used to calibrate the device error of the inertial element after the temperature coefficient error is calibrated.

[0038] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0039] By performing system-level calibration on the inertial navigation equipment and using the calibrated inertial navigation equipment as the basis for the fault collection equipment of the inertial navigation output data, rapid and accurate fault detection of the inertial navigation equipment can be achieved, effectively ensuring the stability and reliability of its operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A flowchart of a comprehensive support method for land-based inertial navigation equipment provided in an embodiment of the present application;

[0041] Figure 2 A method flow chart of inertial navigation system-level calibration in a comprehensive support method for land-based inertial navigation equipment provided in an embodiment of the present application;

[0042] Figure 3 A system composition block diagram of an inertial navigation calibration device used in a comprehensive support method for land-based inertial navigation equipment provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of a dual-axis indexing mechanism in a comprehensive support method for land-based inertial navigation equipment provided in an embodiment of the present application;

[0044] Figure 5 A functional module block diagram of a fault isolation and diagnosis system in a comprehensive support method for land-based inertial navigation equipment provided in an embodiment of the present application;

[0045] Figure 6 A physical diagram of a fault isolation module and a terminal control system provided in an embodiment of the present application;

[0046] Figure 7 A diagram of the software design of the fault isolation and diagnosis system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0049] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0050] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0051] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0052] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0053] First, please refer to Figure 1 The embodiment of the present application provides a comprehensive support method for land-based inertial navigation equipment, comprising the following steps:

[0054] Step S1: perform system-level calibration on the inertial navigation equipment;

[0055] Step S2: acquiring internal data of the inertial navigation device, wherein the internal data includes calibration parameter data of the inertial element inside the inertial navigation device after system calibration; wherein the inertial element includes a gyroscope and an accelerometer; the calibration parameter data is output data of the calibrated inertial element, specifically, the acquired output data of the gyroscope and the accelerometer;

[0056] Step S3: performing fault diagnosis on the collected internal data of the inertial navigation device to obtain a fault diagnosis result;

[0057] Step S4: Adopt corresponding protection strategies for the inertial navigation system according to the acquired fault diagnosis results.

[0058] This application achieves accurate fault detection of inertial navigation equipment by performing system-level calibration on the inertial navigation equipment, which helps to quickly repair the faults and effectively ensure the stability and reliability of the inertial navigation operation.

[0059] In one embodiment, the step S1: performing system-level calibration on the inertial navigation device specifically includes the following steps:

[0060] Step S11: calibrating the temperature coefficient error of the inertial element inside the inertial navigation device;

[0061] Step S12: calibrating the device error of the inertial element after the temperature coefficient error calibration.

[0062] Based on step S11, the output of the inertial element at different temperatures tends to be stable, thereby ensuring the output accuracy of the inertial element under different temperature environments; based on step S12, the device error of the inertial element is compensated to ensure that the output of the inertial element is not affected by the error of the device itself; wherein the device error includes a constant zero bias error, a scale factor error, an installation error, etc. After the inertial navigation is corrected at the system level error, fault detection is performed to exclude faults other than the system error, and then fault inspection or maintenance is performed.

[0063] In a specific embodiment, step S1: the calibration workflow in the system-level calibration of the inertial navigation device is divided into two stages: a preparation stage and a working stage. Figure 2 As shown; the preparation stage mainly completes the power-on, self-test, initial parameter binding, initial alignment, etc. of the inertial navigation device to be calibrated; after the preparation stage is completed, the host computer can read various navigation information output by the inertial navigation device; and the working stage of executing steps S11 and S12.

[0064] In one embodiment, the system-level calibration of the inertial navigation device in step S1 is implemented based on an inertial navigation calibration device. The inertial navigation calibration device uses a dual-axis indexing mechanism and a temperature change environment to respectively excite the inertial device error and the temperature coefficient error, and implements the calibration of high-precision, medium-precision, and low-precision inertial navigation inertial device errors, gyroscope zero bias, temperature coefficient errors, and accelerometer scale factors and temperature coefficient errors. The inertial navigation calibration device includes a dual-axis indexing mechanism, a temperature control device, an electronic chassis, and a host computer. Each component is connected by a cable. The system composition block diagram is shown in FIG. Figure 3 shown.

[0065] In a specific embodiment, step S11: calibrating the temperature coefficient error of the inertial element inside the inertial navigation device is specifically implemented as follows:

[0066] The temperature of the box of the dual-axis indexing mechanism is set by the temperature control device as needed, and the data output by the inertial components (gyroscope and accelerometer) inside the inertial navigation device at different temperatures are collected and read. The correlation between the output data and the temperature and the temperature gradient is determined by the fitting method of the least squares mathematical method, so as to complete the calibration of the temperature coefficient error of the inertial navigation device, so that the output of the inertial navigation device at different temperatures tends to be balanced, and the accuracy and environmental adaptability of the device are improved;

[0067] The temperature control device is mainly composed of a temperature control box, a compressor and connecting cables. The temperature control box can control the working mode and state of the compressor, thereby realizing the control of the internal temperature of the transfer mechanism box within the range of -50℃ to +80℃, which can be used for the calibration of the temperature coefficient error of the inertial navigation device; the compressor is mainly used to achieve cooling and heating, and delivers cold air and hot air to the transfer mechanism box through connecting cables and inertial navigation;

[0068] Among them, the dual-axis indexing mechanism is mainly composed of azimuth axis system, pitch axis system, transition plate, azimuth reference mirror, level bubble, etc. The azimuth axis system and pitch axis system are equipped with conductive slip rings, angle sensors, torque motors, servo drive modules and servo control modules. The conductive slip rings can realize the reliable transmission of internal signals to the outside when the indexing mechanism is able to rotate continuously. The angle sensors can sense the angle change information of the two axis systems. The torque motor is used to control the indexing and speed of the two axis systems. The servo drive module and servo control module can provide drive and control power and signals for the movement of the indexing mechanism. The transition plate is made by mechanical processing and is circular in shape. It is mainly used to connect the azimuth axis system of the indexing mechanism and the installation and fixation of the inertial navigation equipment. There are different numbers of mounting holes drilled on the transition plate. The hole spacing and size can be designed according to the external dimensions of high-precision, medium-precision and low-precision land-based inertial navigation. The azimuth reference mirror is installed on the pitch axis system, and is mainly used for angle calibration when debugging the axis system installation relationship; the level bubble is installed on the base of the dual-axis indexing mechanism, and is a reference for adjusting the level when installing the dual-axis indexing mechanism, such as Figure 4 shown.

[0069] In one embodiment, the step S12: calibrating the device error of the inertial element after the temperature coefficient error is calibrated, specifically includes the following steps:

[0070] After completing the temperature calibration, the device error of the inertial element inside the inertial navigation device can be calibrated. The device error mainly includes the constant zero bias error, scale factor error, installation error, etc. of the gyroscope and accelerometer. Further, the following steps are included:

[0071] Step S121: establishing an inertial navigation device error model;

[0072] Step S122: based on the established inertial navigation device error model, calibrate the device error of the inertial element after the temperature coefficient error is calibrated.

[0073] In one embodiment, the step S121: establishing an inertial navigation device error model specifically includes the following steps:

[0074] Step S1211: using the navigation parameter error of the inertial navigation and the errors of various components as the state vector of the multi-dimensional filter;

[0075] Step S1212: deriving a state vector matrix of the filter based on the state vector and according to the error equation; wherein the state vector matrix is ​​as shown in the following formula:

[0076]

[0077] Where X(t) represents the state vector matrix at time t, φ E、N、U Respectively represent the attitude angles of the inertial navigation device in the east, north and celestial directions, δV E、N、U They represent the velocity errors of the inertial navigation device in the east, north and celestial directions respectively, δλ, δL and δH represent the position errors of the inertial navigation device in longitude, latitude and altitude respectively, and A ij(i＝x,y,z；j＝x,y,z) Represents the installation error between the three accelerometers in the inertial navigation device, G ij(i＝x,y,z；j＝x,y,z) Represents the installation error between the three gyroscopes in the inertial navigation device, ε x、y、z Respectively represent the constant zero deviation of the x, y, and z axis gyroscopes, Respectively represent the constant zero deviation of the x-, y-, and z-axis accelerometers;

[0078] Step S1213: Establishing a filtering state equation for inertial navigation device error calculation based on the state vector matrix; wherein the filtering state equation is as follows:

[0079]

[0080] Where A is the coefficient matrix of Kalman filtering, W is the system noise, V is the measurement noise, X(t) represents the state vector matrix at time t, X(t-1) represents the state vector matrix at the previous moment, W(t-1) represents the system noise at the previous moment, Z(t) represents the measurement vector, H(t) represents the measurement matrix, and V(t) represents the measurement noise.

[0081] In a specific embodiment, step S121 performs filtering using a high-dimensional Kalman filter.

[0082] In one embodiment, the step S122: calibrating the device error of the inertial element after the temperature coefficient error is calibrated based on the established inertial navigation device error model, specifically includes the following steps:

[0083] The preset selected parameter value is used as the observation quantity, and under the preset observation conditions, the navigation parameters of the inertial navigation are collected and obtained; specifically, the three-dimensional velocity is zero as the observation quantity, and the navigation parameters of the inertial navigation are collected and obtained when the inertial navigation is on a static base condition or the vehicle is stationary;

[0084] The acquired inertial navigation parameters are input into the established filtering state equation, and the device errors of the inertial components inside the current inertial navigation device are obtained by reverse calculation using a multi-dimensional filtering method; wherein the multi-dimensional filtering method used is a Kalman filtering method.

[0085] In one embodiment, step S122: based on the established inertial navigation device error model, calibrating the device error of the inertial element after the temperature coefficient error is calibrated is specifically implemented as follows:

[0086] After the host computer sets the rotation order and scheme, it sends a calibration command to the dual-axis indexing mechanism through the electronic chassis. At this time, the dual-axis indexing mechanism starts to rotate according to the set rotation order and scheme. At this time, the device error of the inertial element will be stimulated, coupled with the effective data output by the inertial element, and then transmitted to the host computer. According to the inertial navigation device error model established in advance, the device error is estimated by filtering method, and the estimated error is compensated to the storage circuit unit inside the inertial navigation device, thereby completing the parameter calibration of the inertial navigation device. The parameters after calibration compensation can be used to calculate more accurate navigation information, thereby achieving the purpose of improving the navigation accuracy of land-based inertial navigation equipment.

[0087] Among them, the electronic chassis is mainly used to control the movement of the dual-axis indexing mechanism and the measurement of indexing information. It includes power supply module, angle measurement module, drive module, servo module, etc. Each module is embedded and installed in a vertical cabinet, controlled by a computer, and the host computer software is also integrated into the computer. The power supply module can convert the 220V mains power into +24V, +12V, +5V and other DC power supplies required for the electronic chassis, inertial navigation equipment, and dual-axis indexing mechanism; the angle measurement module can digitize the angle information in the azimuth and pitch directions measured by the dual-axis indexing mechanism, and transmit it to the host computer software for the calculation of calibration errors; the drive and servo modules work together to achieve the control of the position, speed, and posture of the dual-axis indexing mechanism.

[0088] In one embodiment, the step S2: collecting and acquiring the internal data of the inertial navigation device specifically includes the following steps:

[0089] As the inertial navigation device is started, the internal data of the inertial navigation device is collected and acquired. The internal data of the inertial navigation device includes: inertial navigation device connection status information, inertial navigation device coordinate setting data, gyroscope temperature data, gyroscope drift measurement data, startup and north-seeking completion result information, navigation parameters, internal circuit board key signals, and calibration parameter data of inertial components.

[0090] In a specific embodiment, step S2 and step S3 are implemented based on a fault isolation and diagnosis system, which includes a fault isolation module and a control terminal. The fault isolation module is used in combination with the control terminal, and the control terminal is installed with detection and diagnosis software. The fault isolation module and the control terminal are used together to complete the working status monitoring and fault diagnosis functions of the inertial navigation device, such as Figure 5 The fault isolation module provides an independent power supply for the inertial navigation device, and uses a signal conversion circuit and a wireless transceiver module to realize the excitation, collection and wireless transmission of the inertial navigation signal; the control terminal uses the wireless transceiver module to complete the information interaction with the inertial navigation device, processes the collected information through software, determines the status of the inertial navigation device, reads the fault code of the inertial navigation device, and performs fault diagnosis on the inertial navigation device; Figure 6 (a) is a physical diagram of a fault isolation module provided in an embodiment of the present application; Figure 6 (b) is a physical diagram of the terminal control system provided in the embodiment of the present application; the physical diagram of the fault isolation module is as follows Figure 6 (a) shows the actual picture of the control terminal. Figure 6 (b) as shown.

[0091] In one embodiment, step S2 uses a fault isolation module to collect and obtain internal data of the inertial navigation device, specifically:

[0092] After the inertial navigation device is connected to the fault isolation and diagnosis system, as the inertial navigation device is started, the fault isolation module will collect the internal data of the inertial navigation device, including the connection status information of the inertial navigation device, the coordinate setting data of the inertial navigation device, the temperature data of the gyroscope, the drift measurement data of the gyroscope, the startup and north-seeking completion result information, the navigation parameters, the key signals of the internal circuit board, and the calibration parameter data of the inertial element. The above collected data will be sent to the control terminal of the fault isolation and diagnosis system for information analysis and processing;

[0093] Among them, the fault isolation module is composed of a voltage-stabilized power supply, a signal conversion circuit and a wireless communication circuit. It mainly completes the functions of powering the inertial navigation system isolated from the weapon system platform, providing an excitation signal and wirelessly transmitting the inertial navigation system output signal. The fault isolation module connects the inertial navigation system to be tested with the corresponding interface by providing an electrical connection interface for common types of inertial navigation systems. The inertial navigation system can obtain power supply and work instructions. The working data and fault codes generated by the inertial navigation system can also be converted into the signal type required for wireless transmission through the signal conversion circuit, and then transmitted to the control terminal for processing. The module adopts a reconfigurable test interface adapter and a switch network to realize a multi-purpose test interface to meet the needs of data input / output of different types of inertial navigation systems.

[0094] In one embodiment, the step S3: performing fault diagnosis on the collected internal data of the inertial navigation device to obtain the fault diagnosis result specifically includes the following steps:

[0095] Step S31: After receiving the collected internal data of the inertial navigation device, the data is compared and analyzed. The specific comparison is as follows:

[0096] For the connection status information of the inertial navigation device, whether the connection with other devices is normal is mainly judged by signal sending and receiving;

[0097] For the coordinate setting data of the inertial navigation equipment, the accuracy of the setting is mainly given by comparing it with the Beidou / GPS positioning information;

[0098] For gyroscope temperature data, whether the gyroscope heating control process is normal is determined by whether the temperature signal is received;

[0099] For gyroscope drift measurement data, the azimuth data after drift measurement is used to determine whether the drift measurement is normal; the startup and north-seeking completion result information is only used to determine whether the startup and north-seeking functions are normal; the navigation parameters are used to determine whether the navigation function is normal through the number of data bits, output format, etc.

[0100] For the key signals of the internal circuit board, it is determined whether the internal circuit board is working normally by comparing it with the signal database;

[0101] The calibration parameters of the inertial components (gyroscope and accelerometer) are determined by the calibration parameter library and error range threshold stored in the terminal to determine whether the output data of the inertial components are reliable.

[0102] Step S32: After the fault diagnosis is performed, the diagnosis result is output. The specific diagnosis content includes the following:

[0103] Provide qualitative diagnostic results for the connection status of the inertial navigation equipment, gyroscope temperature data, gyroscope drift measurement data, startup and north-seeking completion results, etc., such as whether the connection is normal, whether the gyroscope temperature control is normal, whether the gyroscope drift measurement is accurate and reliable, and whether the startup and north-seeking functions are normal;

[0104] Provide qualitative results and quantitative analysis of coordinate setting data, navigation parameters, key signals of internal circuit boards, calibration parameters of inertial components, etc., such as whether the coordinate setting is accurate and the error value compared with the Beidou positioning coordinates;

[0105] Whether the number of navigation parameter digits and output format are correct, whether the data update is normal, and whether the error is within the indicator range;

[0106] The voltage or current value of a key signal on the internal circuit board, whether the circuit board is working properly, and what kind of faults may be caused by the inertial navigation equipment;

[0107] The measured values ​​of the calibration parameters of the inertial component are compared with the database to determine how large the error of the inertial component device is, whether it is within the range, etc.

[0108] In one embodiment, step S31 and step S32: performing fault diagnosis on the collected internal data of the inertial navigation device and then outputting the diagnosis result are both implemented by a control terminal, and the control terminal includes a fault isolation module and a fault detection and diagnosis module.

[0109] Among them, the fault isolation module is composed of a voltage-stabilized power supply, a signal conversion circuit and a wireless communication circuit. It mainly completes the functions of powering the inertial navigation system isolated from the weapon system platform, providing an excitation signal and wirelessly transmitting the inertial navigation system output signal. The fault isolation module connects the inertial navigation system to be tested with the corresponding interface by providing an electrical connection interface for common types of inertial navigation systems. The inertial navigation system can obtain power supply and work instructions. The working data and fault codes generated by the inertial navigation system can also be converted into the signal type required for wireless transmission through the signal conversion circuit, and then transmitted to the control terminal for processing. The module adopts a reconfigurable test interface adapter and a switch network to realize a multi-purpose test interface to meet the needs of data input / output of different types of inertial navigation systems.

[0110] The fault diagnosis module and the control terminal are connected via wireless communication for data transmission. The control terminal is equipped with inertial navigation detection and fault diagnosis software, which includes detection, fault diagnosis and debugging programs for multiple common inertial navigation models and can be customized.

[0111] The fault diagnosis module is equipped with inertial navigation detection and fault diagnosis software, which includes detection, fault diagnosis and debugging programs for multiple common types of inertial navigation and can be customized. Figure 7 As shown in the figure, the internal data and signal characteristics of the inertial navigation device change with the working status of the equipment. Therefore, the software adopts a dynamic fault diagnosis strategy based on fault phenomena and oriented to the equipment workflow. It uses wireless communication technology to collect data and status codes of the inertial navigation device in each working state in real time, and divides the data and status codes into static sub-information (data and status do not change) and dynamic sub-information (data and status change with the working status). The encoding is uploaded to the fault diagnosis software, and these two types of information are compared with the database for quantitative analysis to determine whether the signal is normal or not, thereby obtaining a qualitative conclusion. The entire fault diagnosis process corresponds to the equipment workflow, and all data information is updated in real time and is in a dynamic link, which can realize comprehensive, systematic and real-time monitoring of the equipment working status. Qualitative conclusions can be obtained through in-machine testing and analysis, and routine detection and fault diagnosis of the equipment can be completed.

[0112] In one embodiment, the step S4: adopting a corresponding protection strategy for the inertial navigation system according to the acquired fault diagnosis result is specifically implemented as follows:

[0113] Through qualitative and quantitative analysis and diagnosis of the above information, we assist technicians in carrying out corresponding maintenance of inertial navigation equipment.

[0114] This application proposes an integrated support system for inertial navigation equipment based on system-level calibration, WIFI wireless communication, and fault diagnosis based on a decision tree, realizing a comprehensive support system that integrates calibration, fault diagnosis, joint debugging, and testing of high-precision, medium-precision, and low-precision inertial navigation equipment, providing universal, customizable, and scalable inertial navigation equipment comprehensive support technical means and implementation methods to meet the needs of multi-level support tasks.

[0115] In the second aspect, the present application provides a comprehensive support system for land-based inertial navigation equipment, including:

[0116] Calibration module, used to perform system-level calibration on inertial navigation equipment;

[0117] A fault information acquisition module is connected to the calibration module for acquiring internal data of the inertial navigation device, wherein the internal data includes calibration parameter data of inertial elements inside the inertial navigation device after system calibration;

[0118] A fault diagnosis module is connected to the fault information acquisition module for performing fault diagnosis on the acquired internal data of the inertial navigation device to obtain a fault diagnosis result;

[0119] The performance guarantee module is connected to the fault diagnosis module for adopting a corresponding guarantee strategy for the inertial navigation system according to the acquired fault diagnosis result.

[0120] In one embodiment, the calibration module includes:

[0121] Temperature calibration unit, used to calibrate the temperature coefficient error of inertial components inside the inertial navigation equipment;

[0122] The parameter error calibration unit is in communication connection with the temperature calibration unit and is used to calibrate the device error of the inertial element after the temperature coefficient error is calibrated.

[0123] Among them, the functional implementation of each module in the above-mentioned land-based inertial navigation equipment comprehensive support system corresponds to the steps in the above-mentioned land-based inertial navigation equipment comprehensive support method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0124] On the third aspect, an embodiment of the present application provides a comprehensive support device for land-based inertial navigation equipment. The comprehensive support device for land-based inertial navigation equipment can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0125] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the land-based inertial navigation equipment integrated support equipment, and the interface used to realize the interconnection between the land-based inertial navigation equipment integrated support equipment and other equipment (such as other computing devices or user equipment). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user equipment can be a display, a keyboard, etc.

[0126] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0127] The processor may be a general-purpose processor, and the general-purpose processor may call the land-based inertial navigation equipment comprehensive support program stored in the memory, and execute the land-based inertial navigation equipment comprehensive support method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the land-based inertial navigation equipment comprehensive support program is called may refer to the various embodiments of the land-based inertial navigation equipment comprehensive support method of the present application, and will not be repeated here.

[0128] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0129] The readable storage medium of the present application stores a comprehensive support program for land-based inertial navigation equipment, wherein when the comprehensive support program for land-based inertial navigation equipment is executed by a processor, the steps of the comprehensive support method for land-based inertial navigation equipment as described above are implemented.

[0130] Among them, the method implemented when the comprehensive support program for land-based inertial navigation equipment is executed can refer to the various embodiments of the comprehensive support method for land-based inertial navigation equipment of the present application, and will not be repeated here.

[0131] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0132] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0133] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A comprehensive support method for land-based inertial navigation equipment, characterized in that: The following steps are involved: Carry out system-level calibration of inertial navigation equipment; Collecting and acquiring internal data of the inertial navigation device, wherein the internal data includes calibration parameter data of inertial elements inside the inertial navigation device after system calibration; Perform fault diagnosis on the collected internal data of the inertial navigation equipment and obtain the fault diagnosis results; According to the obtained fault diagnosis results, corresponding protection strategies are adopted for the inertial navigation.

2. The comprehensive support method for land-based inertial navigation equipment according to claim 1, characterized in that: The system-level calibration of the inertial navigation device specifically includes the following steps: Calibrate the temperature coefficient error of inertial components inside the inertial navigation equipment; The device error of the inertial element after calibration of the temperature coefficient error.

3. The comprehensive support method for land-based inertial navigation equipment according to claim 2, characterized in that: The device error of the inertial element after calibrating the temperature coefficient error comprises the following steps: Establish the error model of inertial navigation device; Based on the established inertial navigation device error model, the device error of the inertial element after the temperature coefficient error is calibrated is calibrated.

4. The comprehensive support method for land-based inertial navigation equipment according to claim 3, characterized in that: The step of establishing the inertial navigation device error model specifically includes the following steps: The navigation parameter errors and various device errors of the inertial navigation are used as the state vectors of the multi-dimensional filter; Derivation of the state vector matrix of the filter based on the state vector and according to the error equation; The filtering state equation for inertial navigation device error calculation is established based on the state vector matrix.

5. The comprehensive support method for land-based inertial navigation equipment according to claim 4, characterized in that: The state vector matrix of the filter derived based on the state vector and the error equation is shown as follows: Where X(t) represents the state vector matrix at time t, φ E、N、U Respectively represent the attitude angles of the inertial navigation device in the east, north and celestial directions, δV E、N、U They represent the velocity errors of the inertial navigation device in the east, north and celestial directions respectively, δλ, δL and δH represent the position errors of the inertial navigation device in longitude, latitude and altitude respectively, and A ij(i＝x,y,z；j＝x,y,z) Represents the installation error between the three accelerometers in the inertial navigation device, G ij(i＝x,y,z；j＝x,y,z) Represents the installation error between the three gyroscopes in the inertial navigation device, ε x、y、z Respectively represent the constant zero deviation of the x, y, and z axis gyroscopes, Represent the constant zero deviation of the x-, y-, and z-axis accelerometers respectively.

6. The comprehensive support method for land-based inertial navigation equipment according to claim 4, characterized in that: The method of calibrating the device error of the inertial element after the temperature coefficient error is calibrated based on the established inertial navigation device error model specifically includes the following steps: Using the preset selected parameter value as the observation quantity, under the preset observation conditions, the navigation parameters of the inertial navigation are collected and obtained; The acquired inertial navigation parameters are input into the established filtering state equation, and the device error of the inertial element inside the current inertial navigation device is obtained by reverse calculation using a multi-dimensional filtering method.

7. The comprehensive support method for land-based inertial navigation equipment according to claim 6, characterized in that: The method of collecting and acquiring the navigation parameters of the inertial navigation system by taking the preset selected parameter values ​​as the observed quantities under the preset observation conditions specifically includes the following steps: Taking the three-dimensional velocity as zero as the observation quantity, the navigation parameters of the inertial navigation are collected when the inertial navigation is on a static base or the vehicle is stationary.

8. The comprehensive support method for land-based inertial navigation equipment according to claim 6, characterized in that: In the step of establishing a filtering state equation for calculating the error of the inertial navigation device based on the state vector matrix, the filtering state equation is as follows: Where A is the coefficient matrix of Kalman filtering, W is the system noise, V is the measurement noise, X(t) represents the state vector matrix at time t, X(t-1) represents the state vector matrix at the previous moment, W(t-1) represents the system noise at the previous moment, Z(t) represents the measurement vector, H(t) represents the measurement matrix, and V(t) represents the measurement noise.

9. A comprehensive support system for land-based inertial navigation equipment, characterized in that: include: Calibration module, used to perform system-level calibration on inertial navigation equipment; A fault information acquisition module is connected to the calibration module for acquiring internal data of the inertial navigation device, wherein the internal data includes calibration parameter data of inertial elements inside the inertial navigation device after system calibration; A fault diagnosis module is connected to the fault information acquisition module for performing fault diagnosis on the acquired internal data of the inertial navigation device to obtain a fault diagnosis result; The performance guarantee module is connected to the fault diagnosis module for adopting a corresponding guarantee strategy for the inertial navigation system according to the acquired fault diagnosis result.

10. The integrated support system for land-based inertial navigation equipment according to claim 9, characterized in that: The calibration module comprises: Temperature calibration unit, used to calibrate the temperature coefficient error of inertial components inside the inertial navigation equipment; The parameter error calibration unit is in communication connection with the temperature calibration unit and is used to calibrate the device error of the inertial element after the temperature coefficient error is calibrated.

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